Plane Motion of Rigid

Bodies:
Forces and
Accelerations
Reference:
Beer, Ferdinand P. et al, Vector Mechanics for Engineers : Dynamics, 8th Edition, Mc GrawHill
Hibbeler R.C., Engineering Mechanics: Dynamics, 11th Edition, Prentice Hall (Chapter 17)

1
 Introduction
• In this chapter and in Chapters 17 and 18, we will be
concerned with the kinetics of rigid bodies, i.e., relations
between the forces acting on a rigid body, the shape and mass
of the body, and the motion produced.

• Results of this chapter will be restricted to:

- plane motion of rigid bodies, and
- rigid bodies consisting of plane slabs or bodies which
are symmetrical with respect to the reference plane.

• Our approach will be to consider rigid bodies as made of

large numbers of particles and to use the results of Chapter
14 for the motion of systems of particles. Specifically,
r r r r&
∑ F = ma and ∑ M =H
G G

• D’Alembert’s principle is applied to prove that the external

r
forces acting on a rigid body are equivalent a vector ma
attached to the mass center and a couple of moment I α .
2
Equations of Motion for a Rigid Body

3
Angular Momentum of a Rigid Body in Plane Motion

4
 MOMENT OF INERTIA
The mass moment of inertia is a measure of an
object’s resistance to rotation.
I = ∫ r2 dm = ∫ r2ρ dV

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PARALLEL-AXIS THEOREM

6
Plane Motion of a Rigid Body

7
EQUATIONS OF TRANSLATIONAL MOTION

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EQUATIONS OF MOTION: TRANSLATION ONLY

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EQUATIONS OF MOTION: TRANSLATION ONLY

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 PROCEDURE FOR ANALYSIS
Problems involving kinetics of a rigid body in only translation
should be solved using the following procedure.
1. Establish an (x-y) or (n-t) inertial coordinate system and specify
the sense and direction of acceleration of the mass center, aG.
2. Draw a FBD and kinetic diagram showing all external forces,
couples and the inertia forces and couples.
3. Identify the unknowns.
4. Apply the three equations of motion:
Σ Fx = m(aG)x Σ Fy = m(aG)y Σ Fn = m(aG)n Σ Ft = m(aG)t
Σ MG = 0 or Σ MP = Σ (Mk)P Σ MG = 0 or Σ MP = Σ (Mk)P
5. Remember, friction forces always act on the body opposing the
motion of the body. 11
Sample Problem 16.1

At a forward speed of 30 m/s, the truck brakes were

applied, causing the wheels to stop rotating. It was
observed that the truck to skidded to a stop in 200 m.
Determine the magnitude of the normal reaction and the
friction force at each wheel as the truck skidded to a stop.

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Sample Problem 16.1

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Sample Problem 16.2
The thin plate of mass 8 kg is held in place as shown.
Neglecting the mass of the links, determine immediately
after the wire has been cut (a) the acceleration of the
plate, and (b) the force in each link.

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15
EXAMPLE

Given: A 50 kg crate rests on a horizontal

surface for which the kinetic friction
coefficient µk = 0.2.

Find: The acceleration of the crate if P

= 600 N.

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EXAMPLE (continued)

17
GROUP PROBLEM SOLVING

Given: A uniform connecting rod BC has a

mass of 3 kg. The crank is rotating
at a constant angular velocity of ωAB
= 5 rad/s.
Find: The vertical forces on rod BC at
points B and C when θ = 0 and 90
degrees.

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EQUATIONS OF MOTION FOR PURE ROTATION

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EXAMPLE
Given: A rod with mass of 20 kg is rotating at 5
rad/s at the instant shown. A moment
of 60 N·m is applied to the rod.

Find: The angular acceleration α and the

reaction at pin O when the rod is in the
horizontal position.

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EXAMPLE

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Sample Problem 16.3

A pulley weighing 12 N and having a radius of gyration of 8

cm is connected to two blocks as shown.
Assuming no axle friction, determine the angular acceleration
of the pulley and the acceleration of each block.

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23
EQUATIONS OF MOTION: GENERAL PLANE MOTION
When a rigid body is subjected to external
forces and couple-moments, it can
undergo both translational motion as well
as rotational motion. This combination is
called general plane motion.

Using an x-y inertial coordinate

system, the equations of motions about
the center of mass, G, may be written
as
∑ Fx = m (aG)x
∑ Fy = m (aG)y
P
∑ MG = I G α
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 Sample Problem 16.4

A cord is wrapped around a homogeneous disk of

mass 15 kg. The cord is pulled upwards with a force T
= 180 N.
Determine: (a) the acceleration of the center of the
disk, (b) the angular acceleration of the disk, and (c)
the acceleration of the cord.

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Sample Problem 16.4

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Constrained Plane Motion: Rolling Motion
• For a balanced disk constrained to
roll without sliding,
x = rθ → a = r α
• Rolling, no sliding:
F ≤ µs N a = rα
Rolling, sliding impending:
F = µs N a = rα
Rotating and sliding:
F = µk N a, rα independent
• For the geometric center of an
unbalanced disk,
a O = rα
The acceleration of the mass center,
r r r
aG = aO + aG O
r
(r
)t (
= aO + aG O + aG O
r
)n
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 Sample Problem 16.6

mE = 4 kg
k E = 85 mm
mOB = 3 kg

The portion AOB of the mechanism is actuated

by gear D and at the instant shown has a
clockwise angular velocity of 8 rad/s and a
counterclockwise angular acceleration of 40
rad/s2.
Determine: a) tangential force exerted by gear D,
and b) components of the reaction at shaft O.

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 Sample Problem 16.6

mE = 4 kg α = 40 rad s 2
k E = 85 mm ω = 8 rad/s
mOB = 3 kg

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 Sample Problem
SOLUTION:
16.8
A sphere of weight W is released with
no initial velocity and rolls without
slipping on the incline.
Determine: a) the minimum value
of the coefficient of friction, b) the
velocity of G after the sphere has
rolled 10 m and c) the velocity of
G if the sphere were to move 10 m
down a frictionless incline.
• Draw the free-body-equation for the
sphere, expressing the equivalence of
the external and effective forces.
• With the linear and angular accelerations
related, solve the three scalar equations
derived from the free-body-equation for
the angular acceleration and the normal
and tangential reactions at C.
• Calculate the friction coefficient required
for the indicated tangential reaction at C.
• Calculate the velocity after 10 m of
uniformly accelerated motion.
• Assuming no friction, calculate the linear
acceleration down the incline and the
corresponding velocity after 10 m. 30
Sample Problem 16.9
A cord is wrapped around the
inner hub of a wheel and pulled
horizontally with a force of 200 N.
The wheel has a mass of 50 kg
and a radius of gyration of 70 mm.
Knowing µs = 0.20 and µk = 0.15,
determine the acceleration of G and
the angular acceleration of the wheel.

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Sample Problem 16.9

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Sample Problem 16.9

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Sample Problem 16.10

The extremities of a 4-m rod

weighing 50 N can move freely and
with no friction along two straight
tracks. The rod is released with no
velocity from the position shown.
Determine: a) the angular
acceleration of the rod, and b) the
reactions at A and B.

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Sample Problem 16.10

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Sample Problem 16.10

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